version: 66.13
glider: 401
mission: 22
dive: 838
start: 8 10 117 22 50 18
data:
$ID,401
$MISSION,22
$DIVE,838
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,25
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,100817,224136,6104.3203,-17347.9395,21,0.8,26,7.0,0.4,193.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-43.5
$GPS2,100817,224910,6104.2822,-17347.9531,9,0.9,18,7.0,0.0,0.0,9,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.014180,0.596510
$KALMAN_X,75289.976562,-849.152100,-195.347610,-265932.125000,71.228760
$KALMAN_Y,-32379.855469,2597.248291,671.446106,230914.000000,-146.526428
$MHEAD_RNG_PITCHd_Wd,351.6,37890,-4.6,-10.000,-9.51,21529
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.15,-487.5,238,1956,2024,4092,0.0,0.0,0,21,10.23,0.00,0.00,0.000,2049,0.100,0.000,1104,1955,2025,2025,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.35,51.02
$GC,24,-1.15,-487.5,1104,1955,2024,4094,0.8,0.0,1,51,9.12,1.50,-9.25,0.000,18948,0.044,1.277,1966,1411,3055,3055,4095,0,0,0,0,0,0,26.03,24.77,26.08,10.35,51.06
$GC,101,-1.15,-487.5,1966,1410,3055,4095,2.9,-9.9,11,111,0.00,1.23,0.00,0.000,1030,0.000,0.024,1966,1944,3055,3055,4095,0,0,0,0,0,0,26.04,26.03,26.06,10.59,50.51
$GC,149,-1.15,-487.5,1966,1945,3056,4095,6.8,-7.8,17,159,0.00,1.38,0.00,0.000,260,0.000,0.043,1967,2464,3056,3056,4095,0,0,0,0,0,0,26.28,26.02,26.29,10.59,49.84
$GC,215,-1.15,-487.5,1966,2464,3057,4095,11.9,-7.4,26,225,0.00,1.30,0.00,0.000,1030,0.000,0.026,1966,1946,3057,3057,4095,0,0,0,0,0,0,26.15,26.10,26.15,10.58,49.68
$GC,262,-1.15,-487.5,1966,1945,3058,4095,15.2,-7.1,32,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1946,3058,3058,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.58,49.44
$GC,307,-1.15,-487.5,1966,1945,3057,4095,18.4,-7.1,38,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1945,3059,3059,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.58,48.77
$GC,353,-1.15,-487.5,1966,1945,3059,4094,21.6,-7.0,44,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1945,3059,3059,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.58,48.42
$GC,398,-1.15,-487.5,1966,1945,3059,4094,24.7,-7.5,50,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1945,3060,3060,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.57,48.93
$GC,444,-1.15,-487.5,1966,1946,3061,4095,28.7,-8.7,56,453,0.00,1.35,0.00,0.000,516,0.000,0.053,1966,1419,3060,3060,4095,0,0,0,0,0,0,26.51,26.19,26.52,10.54,47.91
$GC,510,-1.15,-487.5,1966,1419,3062,4095,34.3,-8.5,65,519,0.00,1.23,0.00,0.000,1030,0.000,0.024,1966,1962,3062,3062,4094,0,0,0,0,0,0,26.36,26.34,26.37,10.51,47.44
$GC,557,-1.15,-487.5,1966,1962,3062,4094,38.0,-7.6,71,566,0.00,1.30,0.00,0.000,260,0.000,0.041,1966,2461,3062,3062,4095,0,0,0,0,0,0,26.56,26.27,26.58,10.49,46.29
$GC,631,-1.15,-487.5,1966,2461,3063,4095,44.0,-8.4,81,640,0.00,1.15,0.00,0.000,1030,0.000,0.026,1966,1993,3063,3063,4095,0,0,0,0,0,0,26.36,26.33,26.39,10.46,45.19
$GC,679,-1.15,-487.5,1966,1993,3064,4095,47.9,-8.0,87,688,0.00,1.48,0.00,0.000,516,0.000,0.052,1966,1417,3064,3064,4095,0,0,0,0,0,0,26.61,26.30,26.63,10.45,44.88
$GC,732,-1.15,-487.5,1966,1417,3064,4095,52.5,-8.6,94,740,0.00,1.25,0.00,0.000,1030,0.000,0.024,1966,1968,3065,3065,4094,0,0,0,0,0,0,26.45,26.40,26.46,10.44,44.44
$GC,777,-1.15,-487.5,1966,1968,3066,4094,56.2,-7.9,100,786,0.00,1.30,0.00,0.000,260,0.000,0.041,1966,2466,3066,3066,4095,0,0,0,0,0,0,26.65,26.36,26.66,10.43,44.05
$STATE,820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,820,begin apogee
$GC,827,-0.45,0.0,1966,2121,3066,4095,60.1,-8.6,106,863,2.20,0.00,27.85,1.265,10244,0.041,0.000,2183,2116,2484,2484,4095,0,0,0,0,0,0,26.40,25.53,24.54,10.43,44.01
$STATE,864,end apogee,CONTROL_FINISHED_OK
$STATE,864,begin climb
$GC,867,1.15,487.5,2183,2115,2484,4095,62.8,0.0,110,912,5.28,1.42,27.70,1.244,10500,0.035,0.050,2692,2648,1915,1915,4094,0,0,0,0,0,0,25.72,25.65,24.08,10.30,43.85
$GC,936,1.78,904.7,2691,2648,1915,4094,59.5,8.0,118,972,2.00,1.27,24.05,1.170,11270,0.020,0.024,2892,2132,1430,1430,4094,0,0,0,0,0,0,25.48,25.46,24.01,10.18,43.38
$GC,1011,2.03,1071.2,2891,2132,1429,4094,52.6,9.2,127,1030,0.75,1.33,10.70,0.995,10756,0.028,0.043,2977,1620,1236,1236,4094,0,0,0,0,0,0,25.46,24.91,24.22,10.06,43.62
$GC,1155,2.34,1278.6,2976,1620,1233,4094,38.8,9.0,147,1175,0.90,1.20,12.60,0.911,11270,0.026,0.026,3078,2110,993,993,4094,0,0,0,0,0,0,25.77,25.75,24.55,10.02,45.35
$GC,1213,2.34,1278.6,3078,2109,993,4094,33.0,10.1,154,1223,0.00,1.52,0.00,0.000,260,0.000,0.055,3078,2667,992,992,4094,0,0,0,0,0,0,25.89,25.58,25.90,9.97,45.35
$GC,1246,2.34,1278.6,3078,2667,991,4094,29.4,10.3,158,1255,0.00,1.35,0.00,0.000,1030,0.000,0.027,3078,2121,990,990,4094,0,0,0,0,0,0,25.77,25.76,25.79,9.97,46.18
$GC,1293,2.44,1346.0,3077,2120,990,4094,24.8,9.7,164,1304,0.17,1.33,5.12,0.580,10756,0.051,0.047,3101,1617,915,915,4094,0,0,0,0,0,0,25.89,25.65,24.85,9.99,46.37
$GC,1375,3.03,1742.9,3101,1616,913,4094,17.8,8.1,175,1403,1.90,1.17,21.70,0.762,11270,0.023,0.025,3295,2103,453,453,4094,0,0,0,0,0,0,25.93,25.90,24.78,10.02,49.92
$GC,1442,3.34,1948.4,3294,2103,452,4094,10.9,9.0,183,1461,0.93,0.00,12.15,0.631,10502,0.028,0.000,3394,2103,211,211,4094,0,0,0,0,0,0,25.75,25.44,24.82,9.96,50.03
$GC,1499,3.88,2309.2,3394,2103,211,4094,6.0,8.3,190,1518,1.65,0.00,8.62,0.547,10246,0.024,0.000,3566,2103,51,51,4094,0,0,0,0,0,0,25.79,25.32,24.90,9.92,51.10
$STATE,1532,end climb,FINISH_DEPTH_REACHED
$STATE,1532,begin subsurface finish
$FINISH1,1.8,1.023923,117
$GC,1540,0.18,116.9,3565,2103,50,4094,1.8,11.5,194,1576,12.00,1.58,-19.02,0.000,20740,0.020,1.258,2397,2669,2354,2354,4095,0,0,0,0,0,0,25.77,24.56,25.79,9.90,50.59
$FINISH2,0.0
$STATE,1577,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1577,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,212611
$TT8_MAMPS,0.025466,0.250166
$HUMID,51.69
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,5.90
$XPDR_PINGS,0
$24V_AH,24.01,22.716
$10V_AH,10.22,26.187
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,47.125,27.500,150.500,0.000,0.000,24.061,18.079,256.941,0.000,0.000,19.351,537.127,0.000,201.218,1125.585,187.097,33.455,558.206,0.000,478.197,0.000,0.544,0.000
$DEVICE_MAMPS,100.215,1276.785,1264.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,133.731,538.036,425.634,630.203,824.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,21191,198
$CAP_FILE_SIZE,45962,0
$CFSIZE,1024409600,978288640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100817,224910,6104.282,-17347.953,9,0.9,18,7.0,0.0,0.0,9,4.9